The present invention provides a dielectric polymer actuator and an inchworm robot using the same. The dielectric polymer actuator comprises a laminate-type actuating part and a frame. The laminate-type actuating part is provided with at least one dielectric polymer film which has first and second surfaces positioned opposite to each other and a side interposed between the first and second surfaces and which includes an incompressible dielectric polymer. First and second compliant electrodes are connected to the first and second surfaces. The frame is formed along the side of the dielectric polymer film so that prestrain applied to the dielectric polymer film is about zero. When a voltage is applied through the first and second compliant electrodes to the dielectric polymer film, the laminate-type actuating part is warped in any one direction of first and second surface directions.